Seminar Information

Title:

Extended Object Filtering using Spatial Independent Cluster Processes

Date:

Thu 22 Jul 2010

Time:

10:00

Location:

EM 2.33

Speaker:

Anthony Swain

Description:

Recent research into multi-object filtering for non-standard targets introduced alternative approaches for target group representation. In these approaches a measurement model (likelihood) was suggested that led to a representation of the measurements as a spatial point process, namely a Poisson point process. In this talk I present a novel approach to extended target tracking, by assuming a 'standard' measurement model (at most one measurement generated from a target point) and representing the target group (or 'extended targets') as a spatial cluster process. With this assumption approximate measurement-update equations for the first order moment density of the extended object Bayes filter can be derived, which I present in a number of scenarios. I finish the talk with video demos of this first moment filter being implemented on simulated data for several examples.